감속비 1로 수정

teleop 속도 수정

base_local_planner_params.yaml 과 dwa_local_planner_params.yaml

s

md_robot_message1 으로 rpm → left, right motor speed 정상으로 나옴.

회전수 8 RPM과 지름 0.107 m일 경우, 속도는 약 0.0448 m/s 입니다.

// Robot physical constants
// const double TICKS_PER_REVOLUTION = 4096*4; // REMOVED: No longer needed
const double WHEEL_RADIUS = 0.054; // Wheel radius in meters - This might still be useful if speed is in rad/s, but assuming m/s for now.
const double WHEEL_BASE = 0.342; // Center of left tire to center of right tire
// const double TICKS_PER_METER = TICKS_PER_REVOLUTION/(2*PI*WHEEL_RADIUS); // REMOVED: N